Artificial Intelligence Robotics and Control Systems Laboratory (AIRoCS)

Mohamed bin Zayed University of Artificial Intelligence

2025

  • C2‑AFCL: Cross‑task Calibration for Asynchronous Federated Continual Learning
    Y. Li, H. Wang, H. Su, Y. Li, X. Yi, Y. Jiang, A. Swikir, I. Razzak, and R. Li. Submitted for publication, 2025. Preprint
  • Data‑free Calibration for Federated Continual Learning under Asynchronous Concept Drift
    H. Su, Y. Mo, Z. Zhang, Y. Jiang, B. Liu, A. Swikir, and Y. Li. Submitted for publication, 2025. Preprint
  • StreamAgent: Towards Anticipatory Agents for Streaming Video Understanding
    H. Yang, F. Tang, L. Zhao, X. An, M. Hu, H. Li, X. Zhuang, B. Wang, Y. Lu, X. Zhang, A. Swikir, J. He, Z. Ge, and I. Razzak. Submitted for publication, 2025. Preprint
  • Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning
    A. Binny, M. Anand, H. T. M. Kussaba, L. Chen, S. Agrawal, F. Abu‑Dakka, A. Swikir. Submitted for publication, 2025. Preprint
  • Stable Robot Motions on Manifolds: Learning Lyapunov‑Constrained Neural Manifold ODEs
    D. Boetius, A. Abdelnaby, A. Kumar, S. Leue, A. Swikir, and F. Abu‑Dakka. Submitted for publication, 2025. Preprint
  • A Novel Theoretical Approach on Micro‑Nano Robotic Networks Based on Density Matrices and Swarm Quantum Mechanics
    M. Mannone, M. Anand, P. Fazio, and A. Swikir. Submitted for publication, 2025. Preprint
  • Healthy and Diseased Brains: A Novel Biological Model Based on Clustered Telecommunications Networks, Finite State Processes, and Neuroimaging/Time‑Series Analysis
    P. Fazio, M. Mannone, N. Marwan, P. Ribino, M. Mehic, A. Swikir, D. Amendola, P. Riello, and M. Voznak. Submitted for publication, 2025. Preprint
  • iBSA Joint: A Fully Integrated Bi‑Stiffness Actuator Joint for Precise Energy Transfer Timing in Explosive Motion Tasks
    M. C. Yildirim, E. P. Fortunić, D. Ossadnik, V. Rakčević, S. Kangwagye, V. L. Mesle, A. Swikir, and S. Haddadin. In IEEE‑RAS 24th International Conference on Humanoid Robots (Humanoids), 2025. Conference
  • Improved DMPs for Dual‑Arm Robot Learning: Online Goal Adaptation and Coupling Refinements
    L. Chen, M. Al Muhsin, F. Wu, A. Swikir, and S. Haddadin. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. Conference
  • Scalable Learning of High‑Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems
    S. Agrawal, L. Chen, A. Binny, H. T. Kussaba, P. Jagtap, A. Swikir, and S. Haddadin. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. Conference
  • DARKO‑Nav: Hierarchical Risk‑ and Context‑Aware Robot Navigation in Complex Intralogistic Environments
    E. Stracca, A. Rudenko, L. Palmieri, P. Salaris, L. Castri, N. Mazzi, V. Rakčević, N. Vaskevicius, T. Linder, N. Bellotto, T. Schreiter, Y. Zhu, M. C. Quero, O. Napolitano, E. Stefanini, L. Heuer, M. Magnusson, A. Swikir, and A. J. Lilienthal. European Robotics Forum (ERF), 2025. Conference
  • Reinforcement Learning for Legged Robots: Truncated Quantile Critics with Path Following Tracking
    H. Q. Le, P. So, A. Abdelrahman, L. Chen, V. L. Mesle, A. Swikir, and S. Haddadin. European Robotics Forum (ERF), 2025. Conference
  • Task‑Oriented Visual Object Pose Estimation for Robot Manipulation: A Modular Approach
    A. Abdelrahman, P. So, H. Q. Le, A. Swikir, and S. Haddadin. European Robotics Forum (ERF), 2025. Conference
  • Drawing Robot Artist: Bridging Creativity, AI, and Physical‑World Interaction
    L. Chen, A. Swikir, and S. Haddadin. Arts in Robotics: IEEE International Conference on Robotics and Automation (ICRA), 2025. Conference
  • LLM as BT‑Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning
    J. Ao, F. Wu, Y. Wu, A. Swikir, and S. Haddadin. In Proc. 2025 IEEE International Conference on Robotics and Automation (ICRA). Conference
  • Evaluating Human‑Robot Skill Gaps in Electrical Circuit Inspection: A New Electronic Task Board for Benchmarking Manipulation
    P. So, A. Swikir, F. J. Abu‑Dakka, and S. Haddadin. In Proc. 2025 IEEE International Conference on Robotics and Automation (ICRA). Conference
  • MonLog: MONotonic‑Constrained LOGistic Regressions for Automated Safety Curve Design
    A. Melone, R. J. Kirschner, D. Müller, A. Swikir, and S. Haddadin. In Proc. 2025 IEEE International Conference on Robotics and Automation (ICRA). Conference
  • TacDiffusion: Force‑Domain Diffusion Policy for Precise Tactile Manipulation
    Y. Wu, Z. Chen, F. Wu, L. Chen, L. Zhang, Z. Bing, A. Swikir, A. Knoll, and S. Haddadin. In Proc. 2025 IEEE International Conference on Robotics and Automation (ICRA). Conference

2024

  • A Compositional Construction of Barrier Functions for Switched Impulsive Systems
    K. Bieker, H. Kussaba, P. Scholl, J. Jung, A. Swikir, S. Haddadin, and G. Kutyniok. In Proc. 63rd IEEE Conference on Decision and Control (CDC), 2024. Conference
  • Trajectory Planning for Non‑Prehensile Object Transportation
    L. Chen, H. Yu, A. Naceri, A. Swikir, and S. Haddadin. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. Conference
  • A Tactile Artificial Hand with a Compliant Linkage Mechanism
    S. Groß, M. Ratzel, E. Welte, D. H. Carvajal, L. Chen, E. P. Fortunić, A. Ganguly, A. Swikir, and S. Haddadin. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. Conference
  • Investigation of the Variable Stiffness on Semi‑Active Suspension System for Collaborative Wheeled Mobile Manipulators
    S. Kuhn, M. C. Yildirim, E. P. Fortunić, K. Karacan, A. Swikir, and S. Haddadin. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. Conference
    Best Mobile Manipulation Paper Award Finalist.
  • Towards Mastering Real‑World Robot Benchmarking: Lessons Learned from the Robothon Grand Challenge
    P. So, A. Abdelrahmen, H. Le, A. Swikir, and S. Haddadin. European Robotics Forum (ERF), 2024. Conference
  • Compositional Safety Verification of Infinite Networks: A Data‑Driven Approach
    A. Aminzadeh, A. Swikir, S. Haddadin, and A. Lavaei. In Proc. IEEE European Control Conference (ECC), 2024. Conference
  • Quantized Periodic Event‑Triggered Control for LTI Systems with 1‑bit Data Transmission
    M. Abdelrahim, D. Almakhles, and A. Swikir. In Proc. IEEE European Control Conference (ECC), 2024. Conference
  • Autonomous and Teleoperation Control of a Drawing Robot Avatar
    L. Chen, A. Naceri, A. Swikir, S. Hirche, and S. Haddadin. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2024. Conference
  • Learning Barrier‑Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots
    M. Schonger, H. T. M. Kussaba, L. Chen, L. Figueredo, A. Swikir, A. Billard, and S. Haddadin. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2024. Conference
  • Optimal Control for Clutched‑Elastic Robotic Systems: A Contact‑Implicit Approach
    D. Ossadnik, V. Rakčević, M. C. Yildirim, E. P. Fortunić, H. T. M. Kussaba, A. Swikir, and S. Haddadin. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2024. Conference
  • CITR: A Coordinate‑Invariant Task Representation for Robotic Manipulation
    P. So, R. Muchacho, R. Kirschner, A. Swikir, L. Figueredo, F. Abu‑Dakka, and S. Haddadin. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2024. Conference
  • Time‑Optimized Trajectory Planning for Non‑Prehensile Object Transportation in 3D
    L. Chen, H. Yu, A. Naceri, A. Swikir, and S. Haddadin. European Robotics Forum (ERF), 2024. Conference
  • Enhanced Image Classification through Customized Convolutional Spiking Neural Network
    A. Saini, N. Gehlot, R. Kumar, and S. Verma. In PICET 2024 (IEEE), 2024. Conference
  • RSNN: Rate Encoding Mechanism-based Spiking Neural Network for Renewable Energy Forecasting
    V. Saini, A. Sumaiti, A. Saini, R. Kumar, H. Zeineldin, and E. Saadany. Energy (Elsevier), 2024. Journal
  • Robot‑to‑Robot Object Handover with Dynamic Focus
    Y. Wu, L. Chen, I. P. Mahiques, Z. Bing, F. Wu, A. Swikir, A. Knoll, and S. Haddadin. ICRA 2024 Workshop: Human‑Centric Multilateral Teleoperation Augmentation, 2024. Other
  • Real‑time Contact State Estimation Based Tactile Insertion Skill
    Y. Wu, F. Wu, L. Chen, K. Chen, S. Schneider, L. Johannsmeier, Z. Bing, F. J. Abu‑Dakka, A. Swikir, A. Knoll, and S. Haddadin. ICRA 2024 Workshop: Whole‑Body Proxy‑Tactile Architectures, 2024. Other
  • Security Challenges in Telepresence Robots: Analysis and Development of Communication Protocols
    L. Chen, K. Sedow, A. Swikir, and S. Haddadin. ICRA 2024 Workshop: Human‑Centric Multilateral Teleoperation Augmentation, 2024. Other
  • Dual‑Arm Robot Task Learning through Teleoperation using Compliant Motion Primitives
    L. Chen, M. Al Muhsin, F. Wu, A. Swikir, and S. Haddadin. ICRA 2024 Workshop: Exploring Role Allocation in Human‑Robot Co‑Manipulation, 2024. Other
  • The Robot Accessible Kitchen: An Argument for General‑Purpose Automation with a Modular Bimanual Manipulation Concept
    P. So, R. Laha, A. Swikir, and S. Haddadin. ICRA 2024 Workshop: Bi‑manual Manipulation — On Kitchen Challenges, 2024. Other
  • Enhanced Robotic Navigation in Deformable Environments Using Learning from Demonstration and Dynamic Modulation
    L. Chen, X. Zhao, M. P. S. Campanha, A. Naceri, A. Swikir, and S. Haddadin. Submitted for publication, 2024. Preprint
  • Learning Safety Barrier Certificates for Obstacle Avoidance Robotic Tasks: A Compositional Approach
    A. Aminzadeh, H. T. M. Kussaba, M. Schonger, A. Abdelrahman, F. J. Abu‑Dakka, A. Swikir, A. Lavaei, and S. Haddadin. Submitted for publication, 2024. Preprint

2023

  • Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi‑Stiffness Actuation Concept
    E. P. Fortunić, M. C. Yildirim, D. Ossadnik, A. Swikir, S. Abdolsah, and S. Haddadin. IEEE Robotics and Automation Letters, 2023. Journal
    IEEE Robotics and Automation Letters Best Paper Award.
  • Automatic Gripper‑Finger Design, Production and Application: Towards Fast and Cost‑Effective Small Batch Production
    R. Ringwald, S. Zong, A. Swikir, and S. Haddadin. IEEE Robotics and Automation Magazine, 2023. Journal
    Magazine Cover.
  • Towards Task‑Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics
    R. Ringwald, S. Schneider, L. Chen, D. Knobbe, L. Johannsmeier, A. Swikir, and S. Haddadin. IEEE Robotics and Automation Letters, 2023. Journal
  • A Task‑Aware Lightweight Link Design Framework for Robots Under Dynamic Loading
    M. C. Yildirim, E. Pisano, M. Hamad, V. L. Mesle, A. Swikir, and S. Haddadin. In Proc. IEEE‑RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023. Conference
  • Symbolic Models for Interconnected Impulsive Systems
    S. Alaoui, A. Saoud, P. Jagtap, and A. Swikir. In Proc. 62nd IEEE Conference on Decision and Control (CDC), 2023. Conference
  • Connecting Control to Perception: Whole‑Body Control Compatible Obstacle‑Representations for High‑Performance Collision Avoidance
    M. Eckhoff, D. Knobbe, H. Zwirnmann, A. Swikir, and S. Haddadin. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. Conference
  • Fast Braking Maneuvers for Online Robot Control with Stopping Trajectory Prediction
    M. Hamad, D. G. Moreno, H. T. Kussaba, N. Mansfeld, S. Abdolshah, A. Swikir, and S. Haddadin. IFAC World Congress, 2023 (accepted). Conference
  • Learning Optimal Controllers: A Dynamical Motion Primitive Approach
    H. T. Kussaba, A. Swikir, F. Wu, A. Demerdjieva, G. Kutyniok, and S. Haddadin. IFAC World Congress, 2023. Conference
  • Unified Force‑Impedance Controller in the Cloud
    X. Chen, L. Chen, H. Sadeghian, A. Swikir, and S. Haddadin. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2023. Conference
  • Design Development and Analysis of 3-DOF Robotic Arm
    A. Saini, N. Gehlot, A. Vijayvargiya, R. Kumar, and U. Desai. In Proc. 9th IEEE International Conference on Power Electronics (IICPE), Murthal, India, 2023. Conference

2022

  • Compositional Construction of Abstractions for Infinite Networks of Discrete‑Time Switched Systems
    M. Sharifi, A. Swikir, N. Noroozi, and M. Zamani. Nonlinear Analysis: Hybrid Systems, 44, 2022. Journal
  • BSA – Bi‑Stiffness Actuation for Optimally Exploiting Intrinsic Compliance and Inertial Coupling Effects in Elastic Joint Robots
    D. Ossadnik, M. C. Yildirim, F. Wu, A. Swikir, S. Abdolsah, and S. Haddadin. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. Conference
  • Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back‑EMF
    E. P. Fortunić, A. Swikir, S. Abdolsah, and S. Haddadin. In Proc. American Control Conference (ACC), 2022, pp. 2546–2552. Conference
  • Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control and Preliminary Result
    M. Yildirim, M. Sabaghian, T. Goll, C. Koessler, C. Jaehne, A. Swikir, A. Sarabakha, and S. Haddadin. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2022, pp. 5769–5775. Conference

2021

  • Verification of Initial‑State Opacity for Switched Systems: A Compositional Approach
    S. Liu, A. Swikir, and M. Zamani. Nonlinear Analysis: Hybrid Systems, 42, 2021. Journal
  • A Lyapunov‑Based Small‑Gain Theorem for Infinite Networks
    C. Kawan, A. Mironchenko, A. Swikir, N. Noroozi, and M. Zamani. IEEE Transactions on Automatic Control, 66(12):5830–5844, 2021. Journal
    2023 IEEE CSS George S. Axelby Outstanding Paper Award.
  • Drawing Elon Musk: A Robot Avatar for Remote Manipulation
    L. Chen, A. Swikir, and S. Haddadin. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 4244–4251. Conference
  • Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach
    R. Laha, J. Vorndamme, L. F. C. Figueredo, Z. Qu, A. Swikir, C. Jahne, and S. Haddadin. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 9401–9407. Conference
  • Reactive Cooperative Manipulation based on Set Primitives and Circular Fields
    R. Laha, L. F. C. Figueredo, J. Vrabel, A. Swikir, and S. Haddadin. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 6577–6584. Conference

2020

  • Symbolic Models for Impulsive Systems
    A. Swikir, A. Girard, and M. Zamani. IEEE Control Systems Letters, 5(1):247–252, June 2020. Presented at CDC 2020. Journal
  • Compositional Verification of Initial‑State Opacity for Switched Systems
    S. Liu, A. Swikir, and M. Zamani. In Proc. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 2146–2151. Conference
  • Construction of Continuous Abstractions for Discrete‑Time Time‑Delay Systems
    M. Shahamat, J. Askari, A. Swikir, N. Noroozi, and M. Zamani. In Proc. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 881–886. Conference
  • Compositional Construction of Abstractions for Infinite Networks of Switched Systems
    M. Sharifi, A. Swikir, N. Noroozi, and M. Zamani. In Proc. 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 476–481. Conference
  • A Spectral Small‑Gain Condition for Input‑to‑State Stability of Infinite Networks
    C. Kawan, A. Mironchenko, A. Swikir, N. Noroozi, and M. Zamani. IFAC‑PapersOnLine, 53(2):5303–5308, 2020. Conference
  • Compositional Synthesis of Symbolic Models for Infinite Networks
    A. Swikir, N. Noroozi, and M. Zamani. IFAC‑PapersOnLine, 53(2):1868–1873, 2020. Conference
  • Compositional Construction of Control Barrier Functions for Interconnected Control Systems
    P. Jagtap, A. Swikir, and M. Zamani. In Proc. 23rd International Conference on Hybrid Systems: Computation and Control (HSCC), 2020. Conference

2019

  • Compositional Synthesis of Finite Abstractions for Networks of Systems: A Small‑Gain Approach
    A. Swikir and M. Zamani. Automatica, 107:551–561, September 2019. Journal
  • Compositional Synthesis of Symbolic Models for Networks of Switched Systems
    A. Swikir and M. Zamani. IEEE Control Systems Letters, 3(4):1056–1061, June 2019. Presented at CDC 2019. Journal
  • Compositional Abstractions of Interconnected Discrete‑Time Switched Systems
    A. Swikir and M. Zamani. In Proc. 18th European Control Conference (ECC), 2019, pp. 1251–1256. Conference

2018

  • Compositional Construction of Abstractions via Relaxed Small‑Gain Conditions Part II: Discrete Case
    N. Noroozi, A. Swikir, F. R. Wirth, and M. Zamani. In Proc. European Control Conference (ECC), 2018, pp. 76–81. Conference
  • From Dissipativity Theory to Compositional Synthesis of Symbolic Models
    A. Swikir, A. Girard, and M. Zamani. In Proc. Indian Control Conference (ICC), 2018, pp. 30–35. Conference
    Best student paper award finalist, 2018.

2016

  • Chattering Analysis of Conventional and Super Twisting Sliding Mode Control Algorithm
    A. Swikir and V. Utkin. In Proc. 14th International Workshop on Variable Structure Systems (VSS), 2016, pp. 98–102. Conference

Theses

  • Compositional Synthesis of Symbolic Models for (In)Finite Networks of Cyber‑Physical Systems
    A. Swikir. Doctoral Dissertation, 2020. Other
  • Chattering Analysis of the System with Higher Order Sliding Mode Control
    A. Swikir. Master Thesis, 2016. Other

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